Comparison of Direct and Inverse Model-based Disturbance Observer for a Servo Drive System

Fink, Nándor; Zenan, Guo; Szemes, Péter Tamás; Köröndi, Péter

doi:10.12700/aph.20.4.2023.4.12

Cited by 2 publications

(2 citation statements)

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“…Other solutions [61][62][63][64][65][66][67][68][69] are characterized by linear or nonlinear phase responses, which lead to a time delay in the differentiated and integrated signals or imprecise response with respect to (periodic) signals with varying frequency. This, in turn, limits their applications in closed-loop control and real-time estimation and recovery of the state variables in, e.g., disturbance observer design [77][78][79][80][81][82][83][84][85].…”

Section: Introductionmentioning

confidence: 99%

Design of Small-Phase Time-Variant Low-pass Digital Fractional Differentiators and Integrators

Sakow

2024

JAMRIS

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The design method and the time-variant FIR architecture for real-time estimation of fractional and integer differentials and integrals are presented in this paper. The proposed FIR architecture is divided into two parts. Small-phase filtering, integer differentiation, and fractional differential and integration on the local data are performed by the first part, which is time-invariant. The second part, which is time-variant, handles fractional and global differentiation and integration. The separation of the two parts is necessary because real-time matrix inversion or an extensive analytical solution, which can be computationally intensive for high-order FIR architectures, would be required by a single time-variant FIR architecture. However, matrix inversion is used in the design method to achieve negligible delay in the filtered, differentiated, and integrated signals. The optimum output obtained by the method of least squares results in the negligible delay. The experimental results show that fractional and integer differentiation and integration can be performed by the proposed solution, although the fractional differentiation and integration process is sensitive to the noise and limited resolution of the measurements. In systems that require closed-loop control, disturbance observation, and real-time identification of model parameters, this solution can be implemented.

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Section: Introductionmentioning

confidence: 99%

Design of Small-Phase Time-Variant Low-pass Digital Fractional Differentiators and Integrators

Sakow

2024

JAMRIS

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“…Compared with the PID controller, the sliding mode controller is a type of discontinuous or nonlinear control approach [25], which provides nonlinearity in DC motor speed control [26]. The sliding mode controller is chosen as a teaching material because it requires high nonlinear features and high abstraction in the mechatronics engineering and control theory just as Figure 1 shows [27][28][29].…”

Section: Introductionmentioning

confidence: 99%

Bond-Graph-Based Approach to Teach PID and Sliding Mode Control in Mechatronics

Guo,

Korondi,

Szemes

2023

Machines

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The main contribution of this article is creating synergy between subjects; this means that students use the same graphical tool in several subjects. So far, the bond graph has not been used in control theory, but it is the “native language” of mechatronics engineers, so we would like to introduce it into the teaching of control theory. The bond graph method is proposed as a novel teaching method to teach mechatronics subjects in the paper. The bond graph is a graphical alternative to ordinary differential equations from a mathematical standpoint. Traditionally, control theory employs ordinary differential equations, as they are familiar to control theorists. However, mathematically, both approaches are equivalent but require a slightly different approach in their application. This article highlights the mathematical similarities between the two approaches while emphasizing the distinctions in graphical representation. Another contribution is that the PID and sliding mode controller are represented using the bond graph method. In the meantime, through the use of practical examples, we effectively illustrate how the same problem can be solved using either approach. In the training materials, the PID controller and an adaptive robust sliding mode controller (ARSMC) with the bond graph are utilized as examples to demonstrate synergy in mechatronics. Finally, we present proof that mechatronic engineers achieve superior outcomes when utilizing the bond graph approach, based on test results from undergraduate students.

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Comparison of Direct and Inverse Model-based Disturbance Observer for a Servo Drive System

Cited by 2 publications

References 0 publications

Design of Small-Phase Time-Variant Low-pass Digital Fractional Differentiators and Integrators

Design of Small-Phase Time-Variant Low-pass Digital Fractional Differentiators and Integrators

Bond-Graph-Based Approach to Teach PID and Sliding Mode Control in Mechatronics

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